JP2007225408A - Sideslip measuring device of moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for measuring highly accurately sideslip of a moving body. <P>SOLUTION: A sideslip angle of the moving body is calculated from the direction (forward direction) of a front antenna to a rear antenna calculated from a signal received by the positioning satellite receiving antennas mounted on the front and the rear on the moving body, and from the progression direction of the antennas. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to improving the accuracy of side slip measurement of a moving body.

For example, the side slip measurement of the moving body is calculated from the turning amount of the moving body obtained by integrating the traveling azimuth obtained from the positioning value by the GPS receiver and the angular velocity obtained from the yaw rate sensor.
At this time, in order to obtain a highly accurate positioning value, a so-called kinematic GPS positioning method is generally used. However, kinematic GPS positioning is a complicated and expensive system.
Further, since the turning amount obtained from the yaw rate sensor includes an integrated cumulative error, it is difficult to measure with high accuracy.
JP 2005-17191 A JP H11-190770 A

Carry a skid measurement of a moving object accurately using only the measurement data obtained from two satellite positioning devices installed on the moving object.

In order to solve the above-mentioned problem, the mobile side slip measuring device of the present invention uses only two global positioning systems (hereinafter referred to as GPS), for example, based on signals and data from positioning satellites. To do. Therefore, it is possible to perform measurement while solving the measurement time synchronization problem that occurs in the case of output values from different types of sensors and the problem of errors inherent in each. Further, since the skid state is calculated using the output value from the same type of sensor with the distance between the two locations as a constraint, a highly accurate skid state can be calculated.

Specifically, the relative velocity vector is obtained from the difference between the measurement speeds of the two satellite positioning device antennas mounted apart on the moving body, and the direction perpendicular to the relative vector direction and the two satellite positioning device antennas are obtained. The relative position between the two satellite positioning device antennas is calculated from the distance between them, and the carrier phase integer bias of the positioning satellite signal is calculated based on the relative position, and the carrier phase integer bias is used. The relative position between the two satellite positioning device antennas is calculated again, and the difference between the forward azimuth angle (direction of the moving body) obtained from the relative position and the traveling azimuth angle obtained from the measurement speed is calculated. Calculate the skid angle.

According to the present invention, it is possible to easily perform a skid measurement of a moving body with high accuracy without handling various sensors.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows an embodiment of the present invention, and FIG. 2 shows a block diagram of a mobile side skid measuring apparatus according to the embodiment.
The mobile body skid measuring device 2 according to the present embodiment is for measuring, for example, a skid during the travel of the mobile body 1 on a test course, and includes two speed vector measuring units 10a and 10b and a skid calculating unit 20. .

In the velocity vector measuring units 10a and 10b, the GPS receiving antennas 11a and 11b are arranged apart from each other on the moving body to receive radio waves from the positioning satellite. As is well known in the single positioning type GPS, a period of 1 second to 0.01 seconds is synchronized with the GPS system time using a phase signal of a radio wave transmitted from a positioning satellite and navigation data modulated on a carrier wave. The position information of the latitude, longitude and height of the receiving point with meter accuracy and the second speed information of millimeter accuracy of the latitude, longitude and height are obtained at intervals of seconds.

In the present embodiment, the velocity vector measuring unit 10 uses a single positioning GPS. The velocity vector data measured by the velocity vector measuring unit 10 is output to the skid calculating unit 20.

The skid calculating unit 20 calculates the skid using the velocity vector data measured by the velocity vector measuring units 10a and 10b and the GPS reception observation data. The skid calculation unit 20 includes means for calculating a relative speed vector from a difference between two speed vector data, means for calculating a relative position satisfying the relative speed vector direction and the distance between the two locations, and the relative position. Means for calculating a carrier phase integer bias of the satellite signal for positioning from, means for recalculating the relative position using the carrier phase integer bias, a forward azimuth angle obtained from the recalculated relative position and the velocity Means are provided for calculating the side slip of the moving body from the difference in traveling azimuth obtained from the vector.

Next, calculation of skid will be described with reference to FIG. The receiving antenna 11a of the velocity vector measuring unit 10a is arranged and attached in front of the moving body 1, receives radio waves from a positioning satellite, and receives east-west, north-south, and vertical velocity vector data (AEv, ANv) is measured and output at a frequency of 1 to 100 times per second. The receiving antenna 11b of the velocity vector measuring unit 10b is disposed and attached to the rear of the moving body 1, receives radio waves from a positioning satellite, and receives east-west, north-south, and upper / lower velocity vector data (BEv, BNv) is measured and output at a frequency of 1 to 100 times per second. The two receiving antennas of the present embodiment are arranged such that the direction of the receiving antenna 11a viewed from the receiving antenna 11b coincides with the forward direction of the moving body 1.

The velocity vector data measured at two locations on the moving body 1 is sent to the skid calculation unit 20, where the position of the moving body 1, the traveling azimuth angle Wm, the relative position (REp, RNp) of the receiving antenna 11a with respect to 11b, and the forward direction. The angle Wh, the side slip angle Ws, and the side slip angular velocity Wv are calculated by a known calculation method as described below.

As the position of the moving body 1, the horizontal position (AEpt, ANpt) of the receiving antenna 11a is the horizontal position (AEpt−1) calculated previously by multiplying the velocity component (AEv, ANv) in the receiving antenna 11a by the measurement time interval. It is calculated by adding to ANpt-1).

As the position of the moving body 1, the horizontal position (Bept, BNpt) of the receiving antenna 11b is the horizontal position (Bept-1, BTv-1, BNpt) calculated last time by multiplying the velocity component (BEv, BNv) in the receiving antenna 11b by the measurement time interval. It is calculated by adding to BNpt-1).

As the traveling azimuth angle of the mobile body 1, the traveling azimuth angle Wm of the receiving antenna 11b is calculated by calculating an arctangent of BNv / BEv using velocity components (BEv, BNv).

As the traveling azimuth angle of the moving body 1, the traveling azimuth angle Wm of the receiving antenna 11a is calculated by calculating the arc tangent of ANv / AEv using the velocity components (AEv, ANv).

The azimuth angle obtained in this way is 0 degrees in the east and 90 degrees in the north, but setting the north to 0 degrees and the east to 90 degrees can be easily performed by changing the calculation formula. Furthermore, in this example, the direction of the receiving antenna 11a viewed from the receiving antenna 11b is arranged so as to coincide with the forward direction of the moving body 1. However, even when the moving antenna 1 is displaced, the moving object can be adjusted by adjusting the mounting deviation angle as a bias. The calculation of the forward azimuth angle of 1 can be easily performed.

The relative velocity vector direction of the receiving antenna 11a with respect to the receiving antenna 11b is calculated using (AEv−BEv) / (AEv−BEv, ANv−BNv) using the difference (AEv−BEv, ANv−BNv) between the velocity component (AEv, ANv) and the velocity component (BEv, BNv). ANv−BNv) is obtained by calculating the arc tangent. This direction is a tangential direction on the circumference centered on the receiving antenna 11b and having a radius of the mounting interval L between the receiving antennas 11a and 11b.

The relative position (REp, RNp) of the receiving antenna 11a with respect to 11b is roughly the vicinity of the contact point of the tangent line that coincides with the direction of the relative velocity vector on the circumference centered on the receiving antenna 11b and having a mounting interval L as the radius. It can be estimated that If the relative movement amount does not occur, the moving body does not perform the turning motion and maintains the initial relative positional relationship. In this case, the relative position (REp, RNp) is determined from the traveling azimuth angle Wm and the mounting interval L. Can be estimated.

In the present embodiment, the relative movement is described as being performed on a horizontal plane. However, when the relative movement is three-dimensional, the relative position is approximately the same as the direction of the three-dimensional relative velocity vector on the spherical surface of radius L. It can be estimated that it is in the vicinity of the contact.

As is known, an accurate value of the relative position (REp, RNp) of the receiving antenna 11a with respect to 11b is determined by using the estimated relative position to determine the carrier wave phase integer bias of the radio wave from the positioning satellite, Obtained by calculating a fixed solution by positioning. Known techniques are described, for example, in the section “Prior Art” of Japanese Patent Application Laid-Open No. H11-190770.

In determining the carrier phase integer bias, the relative position information needs to be given in three dimensions. However, in the present embodiment, the relative height component is zero because the relative movement is described on the horizontal plane.

The forward azimuth angle Wh is obtained by calculating the arctangent of RNp / REp from the relative position (REp, RNp).

The skid angle Ws is obtained by calculating the difference between the forward azimuth angle Wh and the traveling azimuth angle Wm.

The skid angular velocity Wv is obtained by calculating the temporal change of the skid angle Ws.

The mobile side skid measuring device of the present invention is for measuring a skid state during running of a vehicle on a test course, for example. According to the present invention, a highly accurate skid state can be obtained without handling various sensors. Obtainable. Furthermore, if the antenna of this apparatus is installed on the left and right of the moving body, the rolling angle can be measured simultaneously, and if the antenna is installed before and after the moving body, the pitching angle can also be measured.

It is a whole lineblock diagram showing an embodiment. It is a block diagram of the mobile body skid measurement device of the embodiment It is a figure which concerns on the skid calculation of embodiment.

Explanation of symbols

1-moving body 2-moving body side slip measuring device 10-speed vector measuring unit 11-receiving antenna 20-side slip calculating unit 30-side slip measurement result output unit

Claims (1)

A device for measuring a skid of a moving object based on signals and data from a positioning satellite,
Means for measuring two velocity vectors separated by a predetermined distance on the moving body;
Means for calculating a relative velocity vector from a difference between the two velocity vector data;
Means for calculating a relative position satisfying the relative velocity vector direction and the distance between the two locations;
Means for calculating a carrier phase integer bias of the positioning satellite signal from the relative position;
Means for recalculating the relative position using the carrier phase integer bias;
A side slip measuring device comprising: means for calculating a side slip of the moving body from a difference between a forward azimuth angle obtained from the recalculated relative position and a traveling azimuth angle obtained from the velocity vector.

Images